Ground verification method and device for deep detection performance of asteroid exploration radar

Abstract

The application provides a ground verification method and device for deep detection performance of an asteroid exploration radar, and relates to the technical field of deep detection of an asteroid exploration radar, and aims to solve the technical problem that the actual detection performance of the radar cannot be accurately evaluated due to the lack of a verification method for the deep detection performance of the asteroid exploration radar in the prior art. The method comprises the following steps: obtaining a first echo signal-to-noise ratio (simulated signal-to-noise ratio) that meets the deep detection performance of the asteroid exploration radar through a simulation model, obtaining a second echo signal-to-noise ratio (actual signal-to-noise ratio) that is actually detected through a small unmanned aerial vehicle hanging the asteroid exploration radar, and then comparing and analyzing the result difference between the simulated signal-to-noise ratio and the actual signal-to-noise ratio to verify and evaluate the deep detection capability of the asteroid exploration radar. The ground verification method and device can be successfully applied to scientific verification tests and scientific realizability evaluation of the asteroid exploration radar, and are beneficial to the load development and application work of the Tianwen-2 exploration mission.

Description

Technical Field

[0001] This invention relates to the field of asteroid exploration radar depth detection technology, and more specifically, to a ground verification method and apparatus for the depth detection performance of asteroid exploration radar. Background Technology

[0002] The asteroid radar is one of the important payloads of the Tianwen-2 mission. It is used to acquire surface and subsurface radar echo data of the near-Earth asteroid 2016HO3 (Kamo'oalewa) and the main-belt comet 311P / (2013 P5) from the PANSTARRS (Panoramic Survey Telescope And Rapid Response System). This data is used to conduct subsurface structure exploration of asteroids and comets and provide scientific data for cutting-edge scientific research on the origin and evolution of small celestial bodies.

[0003] During its orbit around asteroids and comets, an asteroid detection radar hovers at opportune moments, emitting electromagnetic signals into the subsurface of the target object. These signals propagate through the subsurface medium, encountering soil layers, ice layers, rocks, and other targets, resulting in reflection and scattering. The radar signal is reflected by the asteroid's surface, forming a surface echo. This signal then undergoes surface transmission, surface attenuation, and subsurface reflection, forming a subsurface echo. The subsurface echo has an additional time delay compared to the surface echo, influenced by the asteroid's rotation. By receiving and processing these echoes, complete orbital detection data can be obtained. Processing these radar echoes allows for the acquisition of depth information for targets with discontinuous subsurface electromagnetic parameters, enabling scientific objectives such as probing the internal structure of asteroids / comets and retrieving their dielectric constants.

[0004] The final performance indicators of the asteroid detection radar will be reflected in two aspects: detection depth and resolution. To verify whether the asteroid detection radar can meet the performance requirements in engineering missions, ground tests are needed to evaluate its depth detection capability. Since this asteroid detection radar is my country's first small celestial body orbiting and penetrating radar, it cannot directly obtain the detection depth when detecting underground targets. It employs a unique hovering orbit, relying on the rotation of the small celestial body itself for detection. However, currently, there is a lack of mature ground-based methods for verifying detection depth. Summary of the Invention

[0005] In view of this, the present invention provides a ground verification method and apparatus for the depth detection performance of asteroid exploration radar, in order to solve the technical problem that the lack of a verification method for the depth detection performance of asteroid exploration radar in the prior art makes it impossible to accurately evaluate the actual detection performance of the radar.

[0006] One aspect of the present invention provides a ground verification method for the depth detection performance of an asteroid exploration radar, comprising: generating a standard spherical model based on the attribute information of the target asteroid, wherein the standard spherical model is used to simulate the radar echo characteristics of the target asteroid; based on the standard spherical model, and according to the range resolution cell size and azimuth resolution of different radar detection modes, simulating and obtaining the first radar cross section parameter corresponding to the smallest resolution cell of the standard spherical model in a metallic material; converting the first radar cross section parameter into the second radar cross section parameter corresponding to the smallest resolution cell of the standard spherical model in a two-layer medium, wherein the two-layer medium is used to simulate the real geological features of the target asteroid, including a surface medium and a subsurface medium; and converting the first radar cross section parameter into the second radar cross section parameter corresponding to the smallest resolution cell of the standard spherical model in a two-layer medium. The smallest resolution cell serves as the verification area. Based on preset detection altitude and parameters, the third radar cross section (RCS) parameters of the asteroid exploration radar in the verification area are simulated and obtained, where the verification area is equivalent to a standard plane. The first echo signal-to-noise ratio (SNR) satisfying the depth detection performance of the asteroid exploration radar is calculated based on the second and third RCS parameters. Using a UAV to carry the asteroid exploration radar, ground echo data of the verification area under different radar detection modes are acquired based on the same detection altitude and parameters. The second echo SNR of the actual detection is calculated based on the ground echo data. The depth detection performance of the asteroid exploration radar is verified based on the first and second echo SNRs.

[0007] According to an embodiment of the present invention, based on a standard spherical model, and according to the range resolution unit size and azimuth resolution of different radar detection modes, the simulation obtains the first radar cross section parameters corresponding to the smallest resolution unit of the standard spherical model in metallic material, including: selecting the corresponding smallest resolution unit on the standard spherical model according to the range resolution unit size and azimuth resolution of different radar detection modes; establishing an electromagnetic simulation model based on the smallest resolution unit, and setting the material of the standard spherical model to metallic material; and using the finite-difference time-domain method to simulate and obtain the first radar cross section parameters corresponding to the smallest resolution unit of the standard spherical model in metallic material.

[0008] According to an embodiment of the present invention, converting the first radar cross section parameter into the second radar cross section parameter corresponding to the minimum resolution unit of the standard spherical model in a two-layer medium includes: obtaining the two-way transmittance-reflectance product parameter of the target asteroid under real geological features; and calculating the second radar cross section parameter corresponding to the minimum resolution unit of the standard spherical model in a two-layer medium based on the first radar cross section parameter and the two-way transmittance-reflectance product parameter.

[0009] According to an embodiment of the present invention, the two-way transmittance-reflectance product parameter is calculated as follows:

[0010] |T 01 ⋅T10 | 2 |Γ 12 | 2

[0011] Among them, T 01 T represents the transmittance of a vacuum through a surface medium. 10 Γ represents the transmittance of the surface medium projected into a vacuum. 12 This represents the reflectivity of the surface medium and the subsurface medium.

[0012] According to an embodiment of the present invention, the minimum resolution unit is used as the verification area. Based on the preset detection height and detection parameters, the simulation obtains the third radar cross section parameters of the asteroid exploration radar in the verification area, including: establishing a standard planar model of the minimum resolution unit based on the ground characteristic information of the minimum resolution unit; and simulating the third radar cross section parameters of the asteroid exploration radar in the standard planar model based on the preset detection height and detection parameters.

[0013] According to an embodiment of the present invention, using a drone to carry an asteroid detection radar and acquiring ground echo data of a verification area under different radar detection modes based on the same detection altitude and detection parameters includes: configuring a drone carrying system; and, based on the configured drone carrying system, controlling the drone to reach the verification area and collect ground echo data under different radar detection modes according to the detection altitude and detection parameters.

[0014] According to an embodiment of the present invention, the UAV flight system includes: onboard equipment, wherein the onboard equipment includes: a radar electronics box for generating and receiving radar signals; a data collector for collecting, processing, and encapsulating data output from the radar electronics box; a UAV flight control and navigation system for controlling the attitude, navigation, and flight trajectory planning of the UAV, wherein the UAV flight control and navigation system is configured with a broadcast function to broadcast the flight status of the UAV in real time; and a first UAV data transmission system for receiving remote control and telemetry commands from the ground and for downlinking data output from the radar electronics box.

[0015] According to an embodiment of the present invention, the UAV flight system further includes: ground station equipment, wherein the ground station equipment includes: a remote control and telemetry module for sending and receiving remote control and telemetry commands in real time; a second UAV data transmission system for bidirectional communication with the first UAV data transmission system through the remote control and telemetry module, sending remote control and telemetry commands or receiving echo data; and a control and processing computer for performing data analysis on the echo data.

[0016] According to an embodiment of the present invention, verifying the depth detection performance of an asteroid exploration radar based on a first echo signal-to-noise ratio and a second echo signal-to-noise ratio includes: in response to the second echo signal-to-noise ratio being greater than or equal to the first echo signal-to-noise ratio, indicating that the depth detection performance of the asteroid exploration radar meets the requirements; in response to the second echo signal-to-noise ratio being less than the first echo signal-to-noise ratio, indicating that the depth detection performance of the asteroid exploration radar does not meet the requirements.

[0017] Another aspect of the present invention provides a ground verification device for the depth detection performance of an asteroid exploration radar. The device includes: a generation module for generating a standard spherical model based on the attribute information of the target asteroid, wherein the standard spherical model is used to simulate the radar echo characteristics of the target asteroid; a first simulation module for simulating and obtaining the first radar cross section parameter corresponding to the smallest resolution unit of the standard spherical model in a metallic material, based on the standard spherical model and according to the range resolution unit size and azimuth resolution of different radar detection modes; a conversion module for converting the first radar cross section parameter into the second radar cross section parameter corresponding to the smallest resolution unit of the standard spherical model in a two-layer medium, wherein the two-layer medium is used to simulate the real geological features of the target asteroid, including a surface medium and a subsurface medium; and a second simulation module. The simulation module uses the smallest resolution unit as the verification area and, based on preset detection altitude and parameters, simulates and obtains the third radar cross section parameters corresponding to the asteroid exploration radar in the verification area, where the verification area is equivalent to a standard plane. The calculation module calculates the first echo signal-to-noise ratio (SNR) that satisfies the depth detection performance of the asteroid exploration radar based on the second and third radar cross section parameters. The drone-mounted flight module uses an UAV to carry the asteroid exploration radar and, based on the same detection altitude and parameters, acquires ground echo data of the verification area under different radar detection modes, and calculates the second echo SNR based on the actual detection. The verification module verifies the depth detection performance of the asteroid exploration radar based on the first and second echo SNRs.

[0018] Another aspect of the present invention provides an electronic device comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the method described above.

[0019] Another aspect of the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed, are used to implement the method described above.

[0020] Another aspect of the present invention provides a computer program product including computer-executable instructions that, when executed, are used to implement the method described above.

[0021] Compared with existing technologies, the ground verification method and apparatus for the depth detection performance of asteroid exploration radar provided by the present invention have at least the following beneficial effects:

[0022] The present invention provides a ground-based verification method and apparatus for the depth detection performance of an asteroid exploration radar. First, a simulation model is used to obtain the first echo signal-to-noise ratio (SNR) that meets the depth detection performance requirements of the asteroid exploration radar. Then, the radar is flown by an unmanned aerial vehicle (UAV) to obtain the second echo SNR (actual SNR) obtained from actual detection. The differences between the simulated and actual SNR results are then compared and analyzed to verify and evaluate the depth detection capability of the asteroid exploration radar. This ground-based verification method and apparatus can be successfully applied to scientific verification experiments and scientific feasibility assessments of asteroid exploration radar, which effectively supports the payload development and application work of the Tianwen-2 mission. Attached Figure Description

[0023] The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the invention with reference to the accompanying drawings, in which:

[0024] Figure 1 A flowchart illustrating a ground verification method for the depth detection performance of an asteroid exploration radar according to an embodiment of the present invention is shown schematically.

[0025] Figure 2 The diagram schematically illustrates the electromagnetic simulation model and radar cross section simulation results in low-frequency mode according to an embodiment of the present invention.

[0026] Figure 3 The diagram schematically illustrates the electromagnetic simulation model and radar cross section simulation results in high-frequency mode according to an embodiment of the present invention.

[0027] Figure 4 The schematic diagram illustrates the structure of a drone flight system according to an embodiment of the present invention;

[0028] Figure 5 The diagram schematically illustrates a ground echo map in the low-frequency channel of an asteroid detection radar according to an embodiment of the present invention.

[0029] Figure 6 The diagram schematically illustrates a ground echo map in the high-frequency channel of an asteroid detection radar according to an embodiment of the present invention;

[0030] Figure 7 This schematic diagram illustrates the structure of a ground-based verification device for the depth detection performance of an asteroid exploration radar according to an embodiment of the present invention.

[0031] Figure 8 The diagram schematically illustrates the structure of an electronic device suitable for ground verification of the depth detection performance of asteroid exploration radar according to an embodiment of the present invention. Detailed Implementation

[0032] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the invention for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0033] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0034] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0035] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0036] In the embodiments of this invention, the collection, updating, analysis, processing, use, transmission, provision, disclosure, and storage of data (e.g., including but not limited to user personal information) comply with relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures have been taken to prevent unauthorized access to user personal information data and to maintain the security of user personal information and network security.

[0037] The asteroid radar is one of the important payloads of the Tianwen-2 mission. It is used to acquire surface and subsurface radar echo data of the near-Earth asteroid 2016HO3 (Kamo'oalewa) and the main-belt comet 311P / (2013 P5) from the PANSTARRS (Panoramic Survey Telescope And Rapid Response System). This data is used to conduct subsurface structure exploration of asteroids and comets and provide scientific data for cutting-edge scientific research on the origin and evolution of small celestial bodies.

[0038] During its orbit around asteroids and comets, an asteroid detection radar hovers at opportune moments, emitting electromagnetic signals into the subsurface of the target object. These signals propagate through the subsurface medium, encountering soil layers, ice layers, rocks, and other targets, resulting in reflection and scattering. The radar signal is reflected by the asteroid's surface, forming a surface echo. This signal then undergoes surface transmission, surface attenuation, and subsurface reflection, forming a subsurface echo. The subsurface echo has an additional time delay compared to the surface echo, influenced by the asteroid's rotation. By receiving and processing these echoes, complete orbital detection data can be obtained. Processing these radar echoes allows for the acquisition of depth information for targets with discontinuous subsurface electromagnetic parameters, enabling scientific objectives such as probing the internal structure of asteroids / comets and retrieving their dielectric constants.

[0039] The final performance indicators of the asteroid detection radar will be reflected in two aspects: detection depth and resolution. To verify whether the asteroid detection radar can meet the performance requirements in engineering missions, ground tests are needed to evaluate its depth detection capability. Since this asteroid detection radar is my country's first small celestial body orbiting and penetrating radar, it cannot directly obtain the detection depth when detecting underground targets. It employs a unique hovering orbit, relying on the rotation of the small celestial body itself for detection. However, currently, there is a lack of mature ground-based methods for verifying detection depth.

[0040] Based on this, embodiments of the present invention provide a ground verification method and apparatus for the depth detection performance of an asteroid exploration radar, in order to solve the technical problem that the lack of a verification method for the depth detection performance of an asteroid exploration radar in the prior art makes it impossible to accurately evaluate the actual detection performance of the radar.

[0041] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0042] Figure 1 A flowchart illustrating a ground-based verification method for the depth detection performance of an asteroid exploration radar according to an embodiment of the present invention is shown.

[0043] like Figure 1As shown, the ground verification method for the depth detection performance of the asteroid exploration radar in this embodiment may include operations S1 to S7, for example.

[0044] In operation S1, a standard spherical model is generated based on the attribute information of the target asteroid. The standard spherical model is used to simulate the radar echo characteristics of the target asteroid.

[0045] In operation S2, based on the standard spherical model, according to the range resolution cell size and azimuth resolution of different radar detection modes, the simulation obtains the first radar cross section parameters corresponding to the smallest resolution cell of the standard spherical model under metallic material.

[0046] In operation S3, the first radar cross section parameter is converted into the second radar cross section parameter corresponding to the minimum resolution unit of the standard spherical model in the double-layer medium. The double-layer medium is used to simulate the real geological features of the target asteroid, including the surface medium and the subsurface medium.

[0047] In operation S4, the smallest resolution cell is used as the verification area. Based on the preset detection height and detection parameters, the third radar cross section parameters of the asteroid detection radar in the verification area are obtained by simulation. The verification area is equivalent to a standard plane.

[0048] In operation S5, the first echo signal-to-noise ratio that satisfies the depth detection performance of the asteroid exploration radar is calculated based on the second and third radar cross-section parameters.

[0049] In operation S6, an unmanned aerial vehicle (UAV) was used to carry an asteroid detection radar. Based on the same detection altitude and detection parameters, ground echo data of the verification area under different radar detection modes were obtained, and the signal-to-noise ratio of the second echo of the actual detection was calculated based on the ground echo data.

[0050] During operation of S7, the depth detection performance of the asteroid exploration radar was verified based on the signal-to-noise ratio of the first and second echoes.

[0051] The depth detection capability of asteroid detection radar can be equivalently expressed as the signal-to-noise ratio (SNR) of the subsurface echoes received by the radar from the asteroid reaching the SNR detection threshold. According to the radar equations, the radar transmit power required to penetrate the target depth can be expressed as:

[0052]

[0053] Among them, P t Indicates radar transmit power;

[0054] SNR thr Indicates the receiver's signal-to-noise ratio detection threshold;

[0055] α represents the attenuation factor of the medium;

[0056] R in This represents the one-way propagation distance in the medium;

[0057] R represents the distance between the target and the antenna;

[0058] σ represents the target radar cross section (RCS).

[0059] B represents system bandwidth;

[0060] λ represents wavelength;

[0061] G t G r These represent the transmit antenna gain and the receive antenna gain, respectively.

[0062] G p Indicates processing gain;

[0063] T represents the noise temperature;

[0064] F n Indicates the receiver noise figure;

[0065] L represents receiver insertion loss;

[0066] K represents the Boltzmann constant.

[0067] For a given asteroid detection radar system, the transmit power, antenna gain, receiver noise figure (sensitivity), receiver insertion loss, and receiver signal-to-noise ratio detection threshold can be calibrated in the laboratory; the medium attenuation factor, propagation distance in the medium, target antenna distance, system bandwidth, wavelength, noise temperature, and Boltzmann constant are specified by the system design parameters.

[0068] The radar cross section (RCS) of the target is the only parameter related to the object being detected. Therefore, the verification of the radar depth detection capability of asteroids can be converted into obtaining the echo signal-to-noise ratio of the ground-based detection target used for verification. Based on the difference between the radar cross section (RCS) of the asteroid target and the RCS of the ground-based detection target used for verification, it is equivalent to whether it meets the design detection depth requirements in the detection of small celestial bodies.

[0069] Based on the above concept, in this embodiment, a standard spherical model can first be generated by analyzing the characteristics of the target asteroid through prior knowledge such as density, heterogeneity, and layered structure.

[0070] Then, based on the standard spherical model, according to the range resolution unit size and azimuth resolution of different radar detection modes, the simulation obtains the first radar cross section parameters corresponding to the smallest resolution unit of the standard spherical model in metallic material, and the second radar cross section parameters corresponding to the smallest resolution unit in double-layer medium.

[0071] In this embodiment, different radar detection modes include, for example, low-frequency mode and high-frequency mode.

[0072] Since the minimum resolving unit of a radar is usually a "planar" area under the spatial resolution of the radar system (determined by the radar wavelength, bandwidth, antenna aperture, etc.), in order to evaluate whether the radar can detect the target, it is necessary to convert the actual scattering characteristics of the target (such as the scattering cross section of a sphere) into the "planar" scattering cross section corresponding to the minimum resolving unit of the radar.

[0073] In this embodiment, the second radar cross section parameter is the radar cross section parameter of the smallest resolution unit under the "standard spherical model". Therefore, it is necessary to convert it into the radar cross section parameter under the "standard planar model", that is, the third radar cross section parameter.

[0074] After obtaining the third radar cross section parameters, the echo signal-to-noise ratio that satisfies the depth detection performance of the asteroid exploration radar, i.e., the first echo signal-to-noise ratio, is calculated according to the radar equation.

[0075] The first echo signal-to-noise ratio (SNR) serves as the simulated SNR for this verification method. Next, the actual SNR, i.e., the second SNR, needs to be obtained. In this embodiment, the actual SNR is obtained using a drone-mounted flight method.

[0076] For example, landing gear can be added under the drone to provide installation space for the radar electronics box, antennas, etc. The landing gear can be made of non-metallic material to minimize its impact on the radar antenna. An equipment bay can be added to the landing gear to house the radar electronics box and data acquisition unit. A reflector net can be connected to the landing gear to shield the antenna from the drone's influence; high-frequency and low-frequency antennas are fixed on the reflector net. For power supply, a battery can be used, which, after voltage conversion, provides the power required by the radar electronics box and data acquisition unit. For communication links, uplink and downlink communication links can be designed to ensure real-time transmission and reception of remote control and telemetry data for the radar.

[0077] In this embodiment, an asteroid detection radar is carried by a drone to obtain ground echo data of the verification area under different radar detection modes. The signal-to-noise ratio of the second echo detected in the actual detection can then be calculated based on the ground echo data.

[0078] Finally, by comparing the first echo signal-to-noise ratio that meets the depth detection performance requirements of the asteroid exploration radar with the second echo signal-to-noise ratio obtained from actual detection, it can be verified whether the depth detection performance of the asteroid exploration radar meets the standards.

[0079] The ground-based verification method for the depth detection performance of an asteroid exploration radar provided in this invention first obtains the first echo signal-to-noise ratio (SNR) (simulated SNR) that meets the depth detection performance requirements of an asteroid exploration radar through a simulation model. Then, it obtains the second echo SNR (actual SNR) through actual detection by flying the asteroid exploration radar using a UAV. The differences between the simulated and actual SNR results are then compared and analyzed to verify and evaluate the depth detection capability of the asteroid exploration radar. This ground-based verification method can be successfully applied to scientific verification experiments and scientific feasibility assessments of asteroid exploration radars, which is beneficial to supporting the payload development and application work of the Tianwen-2 mission.

[0080] According to an embodiment of the present invention, operation S2 is based on a standard spherical model. Based on the range resolution cell size and azimuth resolution of different radar detection modes, the simulation obtains the first radar cross section parameters corresponding to the smallest resolution cell of the standard spherical model in metallic material, including:

[0081] Based on the range resolution unit size and azimuth resolution of different radar detection modes, the corresponding minimum resolution unit is selected on the standard spherical model.

[0082] An electromagnetic simulation model is established based on the minimum resolution unit, and the material of the standard sphere model is set to metal.

[0083] Using the finite-difference time-domain method, the parameters of the first radar cross section corresponding to the smallest resolution cell of a standard sphere model in metallic material are obtained through simulation.

[0084] In this embodiment, an electromagnetic simulation model can be established based on the range resolution cell size and azimuth resolution corresponding to the low-frequency and high-frequency modes, respectively, to obtain radar cross-section parameters, such as... Figure 2 and Figure 3 As shown.

[0085] Figure 2 The diagram schematically illustrates the electromagnetic simulation model and the simulation results of the radar cross section in low-frequency mode according to an embodiment of the present invention.

[0086] like Figure 2 As shown, (a) is the electromagnetic simulation model in low-frequency mode, with a model size of 5.4801 meters in the X direction, 28.1079 meters in the Y direction, and 4.4950 meters in the Z direction. The model material is metal. (b) is the simulation calculation result of the backscattered radar cross section in low-frequency mode. The low-frequency radar cross section parameter of this metal model is 34 dBsm.

[0087] Figure 3 The diagram illustrates the electromagnetic simulation model and radar cross section simulation results in high-frequency mode according to an embodiment of the present invention.

[0088] like Figure 3 As shown, (a) is the electromagnetic simulation model in high-frequency mode, with a model size of 2.5221 meters in the X direction, 5.4044 meters in the Y direction, and 0.1702 meters in the Z direction. The model material is metal. (b) is the simulation calculation result of the backscattered radar cross section in high-frequency mode. The low-frequency radar cross section parameter of this metal model is 34 dBsm.

[0089] According to an embodiment of the present invention, operation S3 converting the first radar cross section parameter into the second radar cross section parameter corresponding to the minimum resolution cell of the standard spherical model in a two-layer medium includes:

[0090] Obtain the two-way transmittance-reflectance product parameters of the target asteroid under real geological features;

[0091] Based on the first radar cross section parameter and the two-way transmittance-reflectance product parameter, the second radar cross section parameter corresponding to the minimum resolution unit of the standard sphere model in the two-layer medium is calculated.

[0092] In this embodiment, after obtaining the first radar cross section parameters of the metallic material, it is further necessary to obtain the second radar cross section parameters under the double-layer medium, that is, to simulate the real geological characteristics of the target asteroid, fill the standard sphere with a double-layer medium structure, and solve for the second radar cross section parameters.

[0093] The second radar cross section parameter under the two-layer medium can be calculated based on the two-way transmittance-reflectance product parameter of the target asteroid under actual geological characteristics. Specifically:

[0094] Second radar cross section parameter = First radar cross section parameter × Two-way transmittance-reflectance product parameter.

[0095] The calculation method for the two-way transmittance-reflectance product parameter is as follows:

[0096] |T 01 ⋅T 10 | 2 |Γ 12 | 2

[0097] Among them, T 01 T represents the transmittance of a vacuum through a surface medium. 10 Γ represents the transmittance of the surface medium projected into a vacuum. 12 This represents the reflectivity of the surface medium and the subsurface medium.

[0098] Specifically:

[0099]

[0100]

[0101] Where, ε r1 With ε r2 These represent the relative permittivity of the surface and subsurface media, respectively.

[0102] In this embodiment, for the asteroid, the relative permittivity of the subsurface is taken as 9, the relative permittivity of the surface is taken as 4, and the corresponding two-way transmittance-reflectance product is -15dB.

[0103] In this embodiment, under low-frequency mode: by multiplying the low-frequency radar cross section parameter of the metal model by the product of the asteroid's two-way transmittance and reflectance by 15dB, the radar cross section parameter corresponding to the smallest resolvable unit under the asteroid's double-layer medium is obtained as 19dBsm.

[0104] In this embodiment, under high-frequency mode: by multiplying the high-frequency radar cross section parameter of the metal model by the product of the asteroid's two-way transmittance and reflectance -15dB, the radar cross section parameter corresponding to the smallest resolution unit under the asteroid's double-layer medium is obtained as 19dBsm.

[0105] According to an embodiment of the present invention, operation S4 uses the smallest resolution cell as the verification area, and based on the preset detection altitude and detection parameters, simulates and obtains the third radar cross section parameters of the asteroid detection radar corresponding to the verification area, including:

[0106] Based on the ground characteristic information of the minimum resolution cell, a standard planar model of the minimum resolution cell is established.

[0107] Based on the preset detection altitude and detection parameters, the third radar cross section parameters of the asteroid detection radar in a standard plane model are obtained through simulation.

[0108] In this embodiment, the smallest resolution unit is used as the verification area, and based on the second radar cross section parameters under the "standard sphere model", the third radar cross section parameters under the "standard plane model" are further obtained.

[0109] For example, by analyzing the characteristics of ground targets, the smallest resolution unit is equivalent to a standard plane. Based on the range resolution unit size and azimuth resolution of different working modes, the material is set to be consistent with the actual ground. An electromagnetic simulation model is established, and the third radar cross section parameters under the "standard plane model" are obtained through simulation using the finite difference time-domain method.

[0110] According to an embodiment of the present invention, operation S5 calculates a first echo signal-to-noise ratio that satisfies the depth detection performance of an asteroid exploration radar based on the second radar cross section parameter and the third radar cross section parameter. For example, it can be calculated based on radar equations. Specifically:

[0111] Based on the application scenario and detection requirements of the radar for the target asteroid, and according to the radar equations, and based on the asteroid's dielectric constant (e.g., 9) and loss tangent (e.g., 0.01) in the mission specifications, the dielectric loss through 50m for the low-frequency channel is 40.9 dB, and the dielectric loss through 5m for the high-frequency channel is 24.6 dB. The reflectivity difference is 2.5 dB, and the minimum detectable power of the radar is 8 dB. Therefore, the signal-to-noise ratio of the surface echo must be greater than the sum of the dielectric loss, reflectivity difference, and minimum detectable power of the radar. The overall requirement is:

[0112] The low-frequency channel has a signal-to-noise ratio greater than 51 dB for echoes through a 50m surface.

[0113] The high-frequency channel has a signal-to-noise ratio greater than 35 dB for echoes through a 5m surface.

[0114] Since the signal-to-noise ratio (SNR) gain can be obtained by accumulating multiple frames in the detection setup, the corresponding single-frame echo SNR can be expressed as:

[0115] The signal-to-noise ratio of a single-frame echo from the surface of an asteroid in the low-frequency channel is greater than 21 dB.

[0116] The signal-to-noise ratio of a single frame echo from the surface of an asteroid in the high-frequency channel is greater than 28 dB.

[0117] According to an embodiment of the present invention, operation S6 utilizes a drone to carry an asteroid detection radar, and based on the same detection altitude and detection parameters, acquires ground echo data of the verification area under different radar detection modes, including:

[0118] Configure a drone sling-on system;

[0119] Based on the configured UAV flight system, the UAV is controlled to reach the verification area to collect ground echo data under different radar detection modes according to the detection altitude and detection parameters.

[0120] In this embodiment, the drone-mounted flight system is as follows: Figure 4 As shown.

[0121] Figure 4 The diagram schematically illustrates the structure of a drone flight system according to an embodiment of the present invention.

[0122] like Figure 4 As shown, the drone flight system includes onboard equipment and ground station equipment.

[0123] The onboard equipment includes: radar electronics box, data acquisition unit, UAV flight control and navigation system, and first UAV data transmission system (onboard radio).

[0124] This radar electronics box is used to generate and receive radar signals.

[0125] This data acquisition unit is used to acquire, process, and encapsulate the data output from the radar electronics box.

[0126] The UAV flight control and navigation system is used to control the attitude, navigation and flight trajectory planning of the UAV. The UAV flight control and navigation system is equipped with a broadcast function, which can broadcast the flight status of the UAV in real time.

[0127] The first UAV data transmission system (onboard radio) is used to receive remote control and telemetry commands from the ground, as well as to transmit data output from the radar electronics box.

[0128] The ground station equipment includes: a remote control and telemetry module, a second UAV data transmission system (ground radio), and a control and processing computer.

[0129] This remote control and telemetry module is used to send and receive remote control and telemetry commands in real time.

[0130] The second UAV data transmission system (ground radio) is used to communicate bidirectionally with the first UAV data transmission system through the remote control and telemetry module, sending remote control and telemetry commands or receiving echo data.

[0131] The control and processing computer is used to perform data analysis on the echo data.

[0132] In this embodiment, a drone is used for aerial reconnaissance to detect a selected verification area, such as a volcanic landform detection area. The drone flies at an altitude of 600m, acquiring detection data in both low-frequency and high-frequency modes, and calculating the echo signal-to-noise ratio for each mode. Figure 5 and Figure 6 As shown.

[0133] Figure 5 The diagram schematically illustrates a ground echo map in the low-frequency channel of an asteroid detection radar according to an embodiment of the present invention.

[0134] like Figure 5 As shown, based on the actual detection settings, with a flight altitude of 600m and a volcanic surface scattering coefficient of 5dB, the calculated low-frequency channel radar cross-section parameter of the volcanic surface is 33dBsm. Therefore, the radar cross-section parameter of the volcanic surface is 14dB larger than that of the celestial body surface.

[0135] Figure 6 The diagram illustrates a ground echo map in the high-frequency channel of an asteroid detection radar according to an embodiment of the present invention.

[0136] like Figure 6 As shown, based on the actual detection settings, with a flight altitude of 600m and a volcanic surface scattering coefficient of 5dB, the calculated high-frequency channel radar cross-section parameter of the volcanic surface is 25dBsm. Therefore, the radar cross-section parameter of the volcanic surface is 6dB larger than that of the celestial body surface.

[0137] In this embodiment, the measured data of the asteroid exploration radar depth detection index (second echo signal-to-noise ratio) are shown in Table 1.

[0138] Table 1. Measured Depth Indicators of Asteroid Exploration Radar

[0139]

[0140] In this embodiment, the theoretical data required to meet the depth detection performance of the asteroid exploration radar (first echo signal-to-noise ratio) are shown in Table 2.

[0141] Table 2. Theoretical requirements for meeting the depth detection performance of asteroid exploration radar

[0142]

[0143] According to an embodiment of the present invention, operation S7 verifies the depth detection performance of the asteroid exploration radar based on the first echo signal-to-noise ratio and the second echo signal-to-noise ratio, including:

[0144] The fact that the signal-to-noise ratio of the second echo is greater than or equal to the signal-to-noise ratio of the first echo indicates that the depth detection performance of the asteroid exploration radar meets the requirements.

[0145] The fact that the signal-to-noise ratio of the second echo is lower than that of the first echo indicates that the depth detection performance of the asteroid exploration radar does not meet the requirements.

[0146] In this embodiment, if the signal-to-noise ratio of the second echo is greater than or equal to the signal-to-noise ratio of the first echo, it indicates that the depth detection performance of the asteroid exploration radar meets the requirements; if the signal-to-noise ratio of the second echo is less than the signal-to-noise ratio of the first echo, it indicates that the depth detection performance of the asteroid exploration radar does not meet the requirements.

[0147] Combining the measured data of the asteroid exploration radar depth detection index (second echo signal-to-noise ratio) in Table 1 with the theoretical data of the asteroid exploration radar depth detection performance (first echo signal-to-noise ratio) in Table 2, it can be seen that the asteroid exploration radar meets the depth detection requirements of 50m penetration in the low-frequency channel and 5m penetration in the high-frequency channel.

[0148] Figure 7 The diagram schematically illustrates a ground-based verification device for the depth detection performance of an asteroid exploration radar according to an embodiment of the present invention.

[0149] like Figure 7 As shown, the ground verification device 700 for the depth detection performance of asteroid exploration radar in this embodiment of the invention includes: a generation module 710, a first simulation module 720, a conversion module 730, a second simulation module 740, a calculation module 750, a launch module 760, and a verification module 770.

[0150] The generation module 710 is used to generate a standard spherical model based on the attribute information of the target asteroid, wherein the standard spherical model is used to simulate the radar echo characteristics of the target asteroid.

[0151] The first simulation module 720 is used to simulate and obtain the first radar cross section parameters corresponding to the smallest resolution unit of the standard spherical model in metallic material, based on the standard spherical model and according to the range resolution unit size and azimuth resolution of different radar detection modes.

[0152] The conversion module 730 is used to convert the first radar cross section parameter into the second radar cross section parameter corresponding to the minimum resolution unit of the standard spherical model in the double-layer medium. The double-layer medium is used to simulate the real geological features of the target asteroid, including the surface medium and the subsurface medium.

[0153] The second simulation module 740 is used to take the smallest resolution unit as the verification area, and according to the preset detection height and detection parameters, simulates and obtains the third radar cross section parameters of the asteroid detection radar in the verification area, wherein the verification area is equivalent to a standard plane.

[0154] The calculation module 750 is used to calculate the first echo signal-to-noise ratio that satisfies the depth detection performance of the asteroid exploration radar based on the second radar cross section parameters and the third radar cross section parameters.

[0155] The 760-mounted-fly module is used to carry a drone to asteroid detection radar. Based on the same detection altitude and detection parameters, it acquires ground echo data of the verification area under different radar detection modes, and calculates the signal-to-noise ratio of the second echo of the actual detection based on the ground echo data.

[0156] The verification module 770 is used to verify the depth detection performance of the asteroid exploration radar based on the first echo signal-to-noise ratio and the second echo signal-to-noise ratio.

[0157] Any one or more of the modules, submodules, units, and subunits according to embodiments of the present invention, or at least part of the functions of any one or more of them, can be implemented in a single module. Any one or more of the modules, submodules, units, and subunits according to embodiments of the present invention can be implemented by being divided into multiple modules. Any one or more of the modules, submodules, units, and subunits according to embodiments of the present invention can be at least partially implemented as hardware circuits, such as field-programmable gate arrays (FPGAs), programmable logic arrays (PLAs), systems-on-a-chip, systems-on-a-substrate, systems-on-package, application-specific integrated circuits (ASICs), or implemented in hardware or firmware by any other reasonable means of integrating or packaging circuits, or implemented in software, hardware, and firmware, or in any suitable combination of any of these three implementation methods. Alternatively, one or more of the modules, submodules, units, and subunits according to embodiments of the present invention can be at least partially implemented as computer program modules, which, when run, can perform corresponding functions.

[0158] For example, any and more of the generation module 710, the first simulation module 720, the conversion module 730, the second simulation module 740, the calculation module 750, the launch module 760, and the verification module 770 can be combined into one module / unit / subunit, or any one of these modules / units / subunits can be split into multiple modules / units / subunits. Alternatively, at least some of the functionality of one or more of these modules / units / subunits can be combined with at least some of the functionality of other modules / units / subunits and implemented in one module / unit / subunit. According to embodiments of the present invention, at least one of the generation module 710, the first simulation module 720, the conversion module 730, the second simulation module 740, the calculation module 750, the flight module 760, and the verification module 770 can be at least partially implemented as a hardware circuit, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or any other reasonable means of integrating or packaging the circuit, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, at least one of the generation module 710, the first simulation module 720, the conversion module 730, the second simulation module 740, the calculation module 750, the flight module 760, and the verification module 770 can be at least partially implemented as a computer program module, which can perform corresponding functions when the computer program module is run.

[0159] It should be noted that the ground verification device part of the asteroid exploration radar depth detection performance in the embodiments of the present invention corresponds to the ground verification method part of the asteroid exploration radar depth detection performance in the embodiments of the present invention. For a detailed description of the ground verification device part of the asteroid exploration radar depth detection performance, please refer to the ground verification method part of the asteroid exploration radar depth detection performance, which will not be repeated here.

[0160] Figure 8 The diagram schematically illustrates the structure of an electronic device suitable for ground verification of the depth detection performance of asteroid exploration radar according to an embodiment of the present invention. Figure 8 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0161] like Figure 8 As shown, an electronic device 800 according to an embodiment of the present invention includes a processor 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage portion 808 into a random access memory (RAM) 803. The processor 801 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 801 may also include onboard memory for caching purposes. The processor 801 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0162] RAM 803 stores various programs and data required for the operation of electronic device 800. Processor 801, ROM 802, and RAM 803 are interconnected via bus 804. Processor 801 executes various operations of the method flow according to embodiments of the present invention by executing programs in ROM 802 and / or RAM 803. It should be noted that the programs may also be stored in one or more memories other than ROM 802 and RAM 803. Processor 801 may also execute various operations of the method flow according to embodiments of the present invention by executing programs stored in said one or more memories.

[0163] According to an embodiment of the present invention, the electronic device 800 may further include an input / output (I / O) interface 805, which is also connected to a bus 804. The electronic device 800 may also include one or more of the following components connected to the input / output (I / O) interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the input / output (I / O) interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 810 as needed so that computer programs read from it can be installed into the storage section 808 as needed.

[0164] According to embodiments of the present invention, the method flow according to embodiments of the present invention can be implemented as a computer software program. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable storage medium, the computer program containing program code for performing the method shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811. When the computer program is executed by processor 801, it performs the functions defined in the system of the embodiments of the present invention. According to embodiments of the present invention, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0165] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of the present invention.

[0166] According to embodiments of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium. Examples include, but are not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0167] For example, according to embodiments of the present invention, a computer-readable storage medium may include the ROM 802 and / or RAM 803 described above and / or one or more memories other than ROM 802 and RAM 803.

[0168] Embodiments of the present invention also include a computer program product comprising a computer program containing program code for performing the methods provided in the embodiments of the present invention. When the computer program product is run on an electronic device, the program code is used to enable the electronic device to implement the methods provided in the embodiments of the present invention.

[0169] When the computer program is executed by the processor 801, it performs the functions defined in the system / apparatus of this embodiment of the invention. According to embodiments of the invention, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0170] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 809, and / or installed from a removable medium 811. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0171] According to embodiments of the present invention, program code for executing the computer programs provided in the embodiments of the present invention can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0172] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions. Those skilled in the art will understand that the features described in the various embodiments of the present invention can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments of the present invention can be combined and / or combined in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or pairings fall within the scope of this invention.

[0173] The embodiments of the present invention have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of the invention. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the invention, and all such substitutions and modifications should fall within the scope of the invention.

Claims

1. A ground-based verification method for the depth detection performance of an asteroid exploration radar, characterized in that, The method includes: Based on the attribute information of the target asteroid, a standard spherical model is generated, wherein the standard spherical model is used to simulate the radar echo characteristics of the target asteroid; Based on the standard spherical model, according to the range resolution unit size and azimuth resolution of different radar detection modes, the first radar cross section parameters corresponding to the smallest resolution unit of the standard spherical model under metallic material are obtained by simulation. The first radar cross section parameter is converted into the second radar cross section parameter corresponding to the minimum resolution unit of the standard spherical model in the double-layer medium, wherein the double-layer medium is used to simulate the real geological features of the target asteroid, including the surface medium and the subsurface medium; Using the minimum resolution unit as the verification area, the third radar cross section parameters of the asteroid detection radar corresponding to the verification area are obtained by simulation based on the preset detection height and detection parameters, wherein the verification area is equivalent to a standard plane. Based on the second radar cross section parameter and the third radar cross section parameter, the first echo signal-to-noise ratio that satisfies the depth detection performance of the asteroid exploration radar is calculated; Using a drone to carry the asteroid detection radar, based on the same detection altitude and detection parameters, ground echo data of the verification area under different radar detection modes are obtained, and the signal-to-noise ratio of the second echo of the actual detection is calculated based on the ground echo data. The depth detection performance of the asteroid exploration radar is verified based on the first echo signal-to-noise ratio and the second echo signal-to-noise ratio.

2. The method according to claim 1, characterized in that, Based on the standard spherical model, and according to the range resolution cell size and azimuth resolution of different radar detection modes, the simulation results of the first radar cross section parameters corresponding to the smallest resolution cell of the standard spherical model in metallic material include: Based on the range resolution unit size and azimuth resolution of different radar detection modes, the corresponding minimum resolution unit is selected on the standard spherical model. An electromagnetic simulation model is established based on the minimum resolution unit, and the material of the standard sphere model is set to metal. Using the finite-difference time-domain method, the first radar cross section parameters corresponding to the smallest resolution unit of the standard sphere model in metallic material are obtained through simulation.

3. The method according to claim 1, characterized in that, The step of converting the first radar cross section parameter into the second radar cross section parameter corresponding to the minimum resolution unit of the standard spherical model in a two-layer medium includes: Obtain the two-way transmittance-reflectance product parameters of the target asteroid under real geological features; Based on the first radar cross section parameter and the two-way transmittance-reflectance product parameter, the second radar cross section parameter corresponding to the minimum resolution unit of the standard sphere model in the two-layer medium is calculated.

4. The method according to claim 3, characterized in that, The calculation method for the two-way transmittance-reflectance product parameter is as follows: |T 01 ⋅T 10 | 2 |C 12 | 2 Among them, T 01 T represents the transmittance of a vacuum through a surface medium. 10 Γ represents the transmittance of the surface medium projected into a vacuum. 12 This represents the reflectivity of the surface medium and the subsurface medium.

5. The method according to claim 1, characterized in that, The step of using the minimum resolution unit as the verification area and simulating the third radar cross section parameters of the asteroid detection radar in the verification area according to the preset detection height and detection parameters includes: Based on the ground characteristic information of the minimum resolution unit, a standard planar model of the minimum resolution unit is established; Based on the preset detection altitude and detection parameters, the third radar cross section parameters of the asteroid detection radar in the standard plane model are obtained through simulation.

6. The method according to claim 1, characterized in that, The process of using a drone to carry the asteroid detection radar and acquiring ground echo data of the verification area under different radar detection modes, based on the same detection altitude and detection parameters, includes: Configure a drone sling-on system; Based on the configured UAV flight system, according to the detection altitude and the detection parameters, the UAV is controlled to reach the verification area to collect ground echo data under different radar detection modes.

7. The method according to claim 6, characterized in that, The drone flight system includes: onboard equipment, wherein the onboard equipment includes: Radar electronics box, used to generate and receive radar signals; The data acquisition unit is used to acquire, process, and encapsulate the data output from the radar electronics box. A drone flight control and navigation system is used to control the attitude, navigation, and flight trajectory planning of a drone. The drone flight control and navigation system is equipped with a broadcast function, which can broadcast the flight status of the drone in real time. The first UAV data transmission system is used to receive remote control and telemetry commands from the ground, and to transmit the data output by the radar electronics box.

8. The method according to claim 7, characterized in that, The UAV flight system also includes: ground station equipment, wherein the ground station equipment includes: The remote control and telemetry module is used to send and receive the remote control and telemetry commands in real time; The second UAV data transmission system is used to communicate bidirectionally with the first UAV data transmission system through the remote control and telemetry module, and to send the remote control and telemetry commands or receive echo data. A control and processing computer is used to perform data analysis on the echo data.

9. The method according to claim 1, characterized in that, The step of verifying the depth detection performance of the asteroid exploration radar based on the first echo signal-to-noise ratio and the second echo signal-to-noise ratio includes: The fact that the second echo signal-to-noise ratio is greater than or equal to the first echo signal-to-noise ratio indicates that the depth detection performance of the asteroid exploration radar meets the requirements. If the signal-to-noise ratio of the second echo is less than that of the first echo, it indicates that the depth detection performance of the asteroid exploration radar does not meet the requirements.

10. A ground-based verification device for the depth detection performance of an asteroid exploration radar, characterized in that, The device includes: The generation module is used to generate a standard spherical model based on the attribute information of the target asteroid, wherein the standard spherical model is used to simulate the radar echo characteristics of the target asteroid; The first simulation module is used to simulate and obtain the first radar cross section parameters corresponding to the smallest resolution unit of the standard spherical model in metallic material, based on the standard spherical model and according to the range resolution unit size and azimuth resolution of different radar detection modes. The conversion module is used to convert the first radar cross section parameter into the second radar cross section parameter corresponding to the minimum resolution unit of the standard spherical model in the double-layer medium, wherein the double-layer medium is used to simulate the real geological features of the target asteroid, including the surface medium and the subsurface medium; The second simulation module is used to take the minimum resolution unit as the verification area, and according to the preset detection height and detection parameters, simulate and obtain the third radar cross section parameters of the asteroid detection radar in the verification area, wherein the verification area is equivalent to a standard plane. The calculation module is used to calculate the first echo signal-to-noise ratio that satisfies the depth detection performance of the asteroid exploration radar based on the second radar cross section parameter and the third radar cross section parameter; The drone-mounted flight module is used to use a drone to mount the asteroid detection radar, acquire ground echo data of the verification area under different radar detection modes based on the same detection altitude and detection parameters, and calculate the signal-to-noise ratio of the second echo of the actual detection based on the ground echo data. The verification module is used to verify the depth detection performance of the asteroid exploration radar based on the first echo signal-to-noise ratio and the second echo signal-to-noise ratio.

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